Portable encoded information reading terminal configured to acquire images

ABSTRACT

An encoded information reading (EIR) terminal can comprise a microprocessor, a memory, an EIR device including a two-dimensional imaging device, a motion sensing device, and a communication interface. The EIR terminal can be configured, responsive to detecting a pre-defined pattern in a first plurality of values received from the motion sensing device, to store in the memory a point of origin equal to a first spatial position of the EIR terminal. The EIR terminal can be further configured, responsive to detecting a user interface command, to determine, based on a second plurality of values received from the motion sensing device, a second spatial position of the EIR terminal relative to the point of origin, and to acquire an image of the object. The EIR terminal can be further configured to determine the image scale factor based on at least the second spatial position.

FIELD OF THE INVENTION

The invention is generally related to encoded information reading (EIR)terminals and is specifically related to EIR terminals comprising animaging device.

BACKGROUND OF THE INVENTION

RFID methods are widely used in a number of applications, includingsmart cards, item tracking in manufacturing, inventory management inretail, etc. An RFID tag can be attached, e.g., to an inventory item. AnRFID reading terminal can be configured to read the memory of an RFIDtag attached to an inventory item.

SUMMARY OF THE INVENTION

In one embodiment, there is provided an encoded information reading(EIR) terminal comprising a microprocessor, a memory, an EIR deviceincluding a two-dimensional imaging device, a motion sensing device, anda communication interface. The EIR device can be configured to outputraw image data containing an encoded message and/or to output decodedmessage data corresponding to an encoded message. The EIR terminal canbe configured, responsive to detecting a pre-defined pattern in a firstplurality of values received from the motion sensing device, to store inthe memory a point of origin equal to a first spatial position andorientation of the EIR terminal. The EIR terminal can be furtherconfigured, responsive to detecting a user interface command, todetermine, based on a second plurality of values received from themotion sensing device, a second spatial position and orientation of theEIR terminal relative to the point of origin, and to acquire an image ofan object in a field of view of the imaging device. The EIR terminal canbe further configured to determine the image scale factor based on atleast the second spatial position. The image scale factor can beprovided by a ratio of the size of the object along a chosen directionto the size of the image of the object in the same direction.

In a further aspect, the motion sensing device can be provided by atleast three accelerometers configured to measure proper accelerationvalues of the EIR terminal along at least three mutually-perpendicularaxes. In one embodiment, the motion sensing device can be provided by a9-DOF (degree of freedom) motion sensing unit containing a 3-axisaccelerometer, a 3-axis magnetometer, and 3-axis gyroscope sensors.

In a further aspect, the EIR terminal can be further configured todetermine a change of a spatial position and orientation of the EIRterminal based on proper acceleration values received from at least theaccelerometers.

In a further aspect, the EIR terminal can be further configured toprocess the acquired image before determining the image scale factor,with the purpose of removing various image distortions including but notlimited to keystone-related distortion and/or rotation-relateddistortions.

In a further aspect, the EIR terminal can be further configured toprocess the acquired image to detect a plurality of edges of the objectand to determine one or more dimensions of the object.

In a further aspect, the EIR terminal can be further configured totransmit the acquired image to an external computer via thecommunication interface. In one embodiment, the EIR terminal can befurther configured to also transmit the imaged object identifier, theobject description, and/or one or more dimensions of the object to theexternal computer.

In a further aspect, the EIR terminal can be further configured toidentify the imaged object, e.g., by scanning a bar code attached to theobject, or by reading an RFID tag attached to the object.

In a further aspect, the EIR terminal can comprise a second EIR deviceprovided by a bar code reading device, an RFID reading device, or amagnetic card reading device. The EIR device can be configured to outputraw message data containing an encoded message and/or to output decodedmessage data corresponding to an encoded message

In another embodiment, there is provided a method of producing an imageof an object by an EIR terminal comprising a microprocessor, a memory, atwo-dimensional imaging device, and a motion sensing device. The methodcan comprise the step of storing in the memory of the EIR terminal afirst spatial position of the EIR terminal as a point of origin,responsive to detecting a pre-defined pattern in a first plurality ofvalues received from the motion sensing device. The method can furthercomprise the step of determining, based on a second plurality of valuesreceived from the motion sensing device, a second position of the EIRterminal relative to the point of origin, responsive to detecting a userinterface command. The method can further comprise the step of acquiringan image of an object in the field of view of the imaging device. Themethod can further comprise the step of determining the image scalefactor based on at least the second spatial position.

In a further aspect, the motion sensing device can be provided by atleast three accelerometers configured to measure proper accelerationvalues of the EIR terminal along at least three mutually-perpendicularaxes. In one embodiment, the motion sensing device can be provided by a9-DOF (degree of freedom) motion sensing unit containing a 3-axisaccelerometer, a 3-axis magnetometer, and 3-axis gyroscope sensors.

In a further aspect, the method can further comprise the step ofprocessing the image before determining the image scale factor, with thepurpose of removing various image distortions including but not limitedto keystone-related distortion and/or rotation-related distortions.

In a further aspect, the method can further comprise the steps of theprocessing the image to detect a plurality of edges of the object; andthe EIR terminal determining one or more dimensions of the object.

In a further aspect, the method can further comprise the step of thetransmitting the image to an external computer. In one embodiment, themethod can further comprise the step of transmitting the imaged objectidentifier, the object description, and/or one or more dimensions of theobject to the external computer.

In a further aspect, the method can further comprise the step ofidentifying the imaged object, e.g., by scanning a bar code attached tothe object and/or by reading an RFID tag attached to the object.

BRIEF DESCRIPTION OF THE DRAWINGS

For the purpose of illustrating the invention, the drawings show aspectsof one or more embodiments of the invention. However, it should beunderstood that the present invention is not limited to the precisearrangements and instrumentalities shown in the drawings, wherein:

FIGS. 1 a-1 b schematically illustrate a process of acquiring an imageby the EIR terminal disclosed herein;

FIG. 2 schematically illustrate detecting a plurality of edgescorresponding to the boundaries and structural elements of the imagedobject;

FIG. 3 schematically illustrates keystone-related image distortions;

FIG. 4 schematically illustrates rotation-related image distortion;

FIG. 5 schematically illustrates a method of calculating a scale factorof an image of a physical object acquired by the EIR terminal disclosedherein;

FIG. 6 schematically illustrates a component-level diagram of oneembodiment of the EIR terminal disclosed herein;

FIG. 7 schematically illustrates a network diagram of one embodiment ofa data collection system employing EIR terminals;

FIG. 8 is a flowchart of one embodiment of a method of acquiring animage of a physical object by an EIR terminal disclosed herein;

FIGS. 9 a-9 c schematically illustrate embodiments of the EIR terminaldisclosed herein.

The drawings are not necessarily to scale, emphasis instead generallybeing placed upon illustrating the principles of the invention. In thedrawings, like numerals are used to indicate like parts throughout thevarious views.

DETAILED DESCRIPTION OF THE INVENTION

In one embodiment, there is provided an EIR terminal comprising amicroprocessor, a memory, an EIR device including an imaging device, anda motion sensing device. Using the motion sensing data, the EIR terminalcan be configured to determine its spatial position relatively to theobject being imaged by the imaging device, or at least the distance tothe surface of the object being imaged, as described in details hereininfra. Based on the known distance to the imaged physical object, theEIR terminal can be further configured to calculate the scale factor ofthe image.

The above described functionality can be particularly useful for aportable RFID reading terminal configured to display a scan traceoverlaid over an image of a physical structure containing inventoryitems, thus providing the terminal's operator with a visual feedbackwith respect to the scanning progress, as described in the commonlyassigned U.S. patent application Ser. No. 13/359,005 entitled “PortableRFID Reading Terminal with Visual Indication of Scan Trace” filed onJan. 26, 2012, which is incorporated herein by reference in itsentirety.

At any moment in time, the RF signal coverage emitted by an RFID readingterminal can be defined by a 3D shape. The form and size of the 3D shapedefining the RF signal coverage depend, among other factors, on the RFIDtransmit power level and the number and configuration of the RF antennasemployed by the RFID reading device. Hence, a target scan area by anRFID reading terminal can be visualized as a projection of the 3D RFsignal coverage shape onto an arbitrarily chosen plane. For a movingRFID reading terminal, a visual scan trace can be provided by a linedefined by a multitude of time varying points, each point being aprojection of the 3D RF signal coverage shape onto the arbitrarilychosen plane at a given moment in time. The imaginary plane onto whichthe visual scan trace is projected can be chosen to intersect a physicalstructure (e.g., a shelving unit) containing a plurality of items to beinventoried, and thus the scan trace can be overlaid over an image ofthe physical structure.

The images of the physical structures (e.g., shelving units disposed inretail or storage facilities) having known spatial positions and knowndimensions can be acquired by the EIR terminal disclosed herein, and canbe transmitted to a database and/or to the portable RFID readingterminal employed to read RFID tags attached to items stored in amanufacturing, retail, and/or storage facility.

In one embodiment, the EIR terminal disclosed herein can be equippedwith an RFID reading device. The EIR terminal can be configured toacquire an image of a physical structure, determine the scale factor ofthe image, as described in details herein infra, and then display anRFID scan trace, as described in the above mentioned U.S. patentapplication Ser. No. 13/359,005

The operator of the EIR terminal can be instructed, before activatingthe shutter release control for acquiring an image, to bring EIRterminal 100 into a mechanical contact with a surface of a physicalobject 190 to be imaged, as schematically shown in FIG. 1 a. In oneembodiment, the area 199 on the surface of the physical object to betapped by the EIR terminal can be marked with a distinctive visualpattern. Alternatively, the operator can bring EIR terminal 100 into amechanical contact with any point on the surface of physical object 190,as schematically shown in FIG. 1 b.

In a further aspect, the motion sensing device can be provided by atleast three accelerometers configured to measure the proper accelerationvalues of the EIR terminal along three mutually perpendicular axes.Bringing the EIR terminal into a mechanical contact with a stationaryobject would result in a distinctive spike in the data returned by themotion sensing device, caused by the mechanical velocities and properaccelerations of the EIR terminal along the three axes becoming zeroesalmost immediately, and remaining at zero levels while the operatorholds the terminal in a mechanical contact with the physical structure.

Responsive to detecting the above described pattern in the data returnedby the motion sensing device, the EIR terminal can be configured to seta point of origin at its current spatial position, and to starttracking, by the motion sensing device, any future movements of the EIRterminal relatively to this point of origin. As follows from the aboveexplanations, the point of origin should coincide with either apre-defined point or an arbitrary chosen point on the surface of theobject of interest.

Responsive to detecting a user interface command (e.g., a shutterrelease button or touch screen GUI control), the EIR terminal candetermine its current position relative to the previously defined pointof origin, and release the shutter of the imaging device, thus acquiringan image of the object in the field of view of the imaging lens of theimaging device.

In one embodiment, the operator of EIR terminal 100 can bring EIRterminal 100 into a physical contact with a pre-defined point 199(hereinafter referred to as the “pre-defined tap point”) on the surfaceof the physical object 190, as schematically shown in FIG. 1 a, andhence the EIR terminal can be configured to determine its currentposition in a reference frame XYZ connected to the pre-defined point onthe surface of the physical object. The origin of the reference framecan coincide with the pre-defined tap point 199 on the surface of thephysical object 190. Alternatively, the origin of the reference framecan coincide with a second pre-defined point 198 (e.g., the left bottomcorner of the front surface of the physical object) located at a knowndisplacement from the pre-defined tap point.

In another embodiment, the operator of EIR terminal 100 can bring EIRterminal 100 into a physical contact with an arbitrarily chosen point197 (hereinafter referred to as an “arbitrarily chosen tap point”) onthe surface of the physical object 190, as schematically shown in FIG. 1b, and hence the EIR terminal can be configured to determine its currentposition in a reference frame XYZ connected to the arbitrarily chosenpoint on the surface of the physical object. Since the origin of thereference frame would coincide with an arbitrarily chosen tap point onthe front surface of the object 190, EIR terminal 100 can be configuredto determine the Z coordinate, i.e. the distance between EIR terminal100 and the front surface of the object 190. Alternatively, the originof the reference frame can coincide with a second pre-defined point 198(e.g., the left bottom corner of the front surface of the physicalobject) located at a known displacement along the Z-axis from thepre-defined tap point.

Thus, in any of the above described two illustrative embodiments, EIRterminal 100 can be configured to determine the distance along theZ-axis between itself and the imaged physical object, based on the knownposition of the EIR terminal relative to the pre-defined point of originat the time of releasing the shutter. The acquired image, the distancebetween the EIR terminal and the imaged object, and/or the position ofthe EIR terminal relative to the pre-defined point of origin (includingorientation of the EIR terminal, i.e., the direction in which the EIRterminal was pointing at the time when the shutter release control wasactivated) can then be stored in the memory of the EIR terminal.

In a further aspect, an identifier of the imaged physical object canalso be stored in the memory of the EIR terminal. In one embodiment, theimaged object can be identified by scanning a bar code label attached tothe object and decoding the bar code to retrieve the object identifier.In a further aspect, the bar code label can be attached to the surfaceof the object in a visual reference with the pre-defined tap point.

In a further aspect, the message encoded in the bar code can furtherinclude the object description, such as the position of the object onthe facility floor plan and/or characteristics of the object comprising,for example, physical dimensions of the object, the number, sizes, andlocations of shelves. In a further aspect, the message encoded in thebar code can further include the coordinates of the pre-defined tappoint in the reference frame.

In another embodiment, the imaged physical object can be identified byreading an RFID tag attached to the object. In one embodiment, the RFIDtag identifying the physical object can be attached to the surface ofthe physical object 190 at or in the vicinity the pre-defined tap point199. Alternatively, the RFID tag identifying the physical object can bemounted elsewhere on the surface or within the physical object. Todistinguish the object identifier RFID tag from other RFID tags whichcan be present within the RFID reading range of the physical object, theobject identifier tag can include a pre-defined data pattern, e.g., as apart of the tag identifier (TID). The pre-defined data pattern can serveas an indicator that the RFID tag's memory contains the physical objectidentifier, object description, and/or the coordinates of thepre-defined tap point in the reference frame. Should more than one RFIDtag be read (as would be the case if the shelving unit containedinventory items with RFID tags attached to them), the EIR terminal canselect and further interrogate the tag having the TID containing thepre-defined data pattern. In a further aspect, the message encoded inthe RFID tag memory can further include the object description, such asthe position of the object on the facility floor plan and/or thedescription of the object comprising, for example, physical dimensions,the number, sizes, and locations of shelves.

In a yet another embodiment, the object identifier, object description,and/or the coordinates of the pre-defined tap point in the origin framecan be entered into the EIR terminal via the user interface.

In a further aspect, the acquired imaged can be assumed to include theentire physical object (e.g., a physical structure sustaining aplurality inventory items, such as a shelving unit). The EIR terminalcan be configured to process the acquired image to detect the edgescorresponding to the boundaries of the imaged object 2010, asschematically shown in FIG. 2. An “edge” in this context shall refer toa line along which one or more image characteristics (such as hue,saturation, color value, and brightness), both individually or incombinations, change sharply, e.g., by at least a pre-defined number ofunits of measuring the respective image characteristic. For example, anedge can be defined as a line along which the image brightness changesby at least a pre-defined number of brightness units. In anotherexample, an edge can be defined as a line along which the image colorchanges by at least a pre-defined number of color value units. Byapplying an edge detecting algorithm to an image, boundaries of objectsand/or boundaries of parts of objects can be discovered.

In the illustrative embodiment of FIG. 2, the top 202, bottom 204, left206 and right 208 boundaries of the front surface of the imaged physicalstructure can be detected. In another illustrative embodiment, the EIRterminal can be further configured to process the acquired image todetect the edges corresponding to the structural elements of the imagedobject, e.g., to the shelves 209 a-209 z of the shelving unit.

In one embodiment, the EIR terminal can be configured to detect edges bycomputing a plurality of derivatives of image pixels brightness,followed by searching for local maxima of the first order derivatives ofimage pixel brightness (e.g., by searching for zero crossings by thesecond-level derivatives). Image pixels corresponding to the localmaxima of the first order derivatives of pixel brightness can bepresumed to indicate the edges within the image. A skilled artisan wouldappreciate the fact that other methods of edge detection is within thescope of this disclosure.

In a further aspect, the EIR terminal can be configured to process theacquired image to correct any keystone-, and/or rotation-related imagedistortions. Keystone-related distortions, often nicknamed “keystoneeffect” can be caused by the optical axis of the imaging device notbeing substantially perpendicular to the center of the surface of theimaged object, resulting in the image of a rectangle on the surface ofthe imaged object becoming a trapezoid (which is the shape of anarchitectural keystone, which explains the name of the effect). FIG. 3illustrates several images of a shelving unit 2010, where the image 2010a is free of keystone effect, and images 2010 b, 2010 c, 2010 d, and2010 e contain visible keystone distortions.

Rotation-related image distortions are deviations of horizontal (and/orvertical) lines within the imaged object from the respective horizontaland vertical axes in the image frame.

In some situations, the imager during the exposure period can be rotatedwith respect to the frame of reference of the physical object 2010 f, asschematically illustrated by FIG. 4.

In a further aspect, the EIR terminal can be configured to determine animage scale factor as a function of the distance between the EIRterminal and the imaged object, measured in the direction orthogonal tothe front surface of the imaged object (i.e., the direction of Z axis asdepicted in FIG. 1 a-1 b):S=ƒ(z),

wherein S is the image scale factor; and

z is the distance between the EIR terminal and the surface of the imagedobject, measured in the direction orthogonal to the front surface of theimaged object.

The image scale factor can be defined as the ratio of the physical sizeof the object (in the units of length, e.g., feet and inches) in achosen direction to the size of the image of the object (in pixels) inthe same direction.

In one embodiment, the EIR terminal can be configured to calculate thescale factor of the acquired image using the function ƒ(d) defined bycalibration of the camera lens with reference images of specificdimensions at selected values of distance d. In another embodiment, theEIR terminal can be configured to calculate the scale factor of theacquired image using the lens maker equation and image sensorspecification.

In one illustrative embodiment, schematically shown in FIG. 5, the scalefactor of the acquired image can be calculated as follows:S=G/|P ₀ −P ₁|,

wherein S is the image scale factor measured in the units of length perimage pixel;

|P₀−P₁| is the separation of corresponding edges in image in the givendirection measured in pixels; and

G is the field of view of the imaging lens which can be determined asfollows:G=2*d*tan(α/2),

wherein α is the maximum angle of view of the imaging lens; and

d is the distance to the object determined using motion sensing data asdescribed herein supra.

In a further aspect, a physical dimension of the imaged object can becalculated as follows:D=|D ₂ −D ₃ |=S*|P ₂ −P ₃|,

wherein |D₂−D₃| is the distance between two points D₂ and D₃ situated onthe surface of the imaged object measured in the units of length; and

|P₂−P₃| is the distance between corresponding images P₂ and P₃ measuredin pixels of points D₂ and D₃, respectively.

In one embodiment, the acquired image, the object identifier, the objectdescription, and/or the calculated image scale factor can be transmittedby EIR terminal 100 to an external computer via a wired or wirelesscommunication interface. In one embodiment, the acquired image, theobject identifier, the object description, and/or the calculated imagescale can be stored in a database together with a description of thephysical structure.

Component-level diagram of one embodiment of the EIR terminal disclosedherein is now being described with references to FIG. 6. EIR terminal100 can comprise at least one microprocessor 310 and a memory 320, bothcoupled to the system bus 370. Microprocessor 310 can be provided by ageneral purpose microprocessor or by a specialized microprocessor (e.g.,an ASIC). In one embodiment, EIR terminal 100 can comprise a singlemicroprocessor which can be referred to as a central processing unit(CPU). In another embodiment, EIR terminal 100 can comprise two or moremicroprocessors, for example, a CPU providing some or most of the EIRterminal functionality and a specialized microprocessor performing somespecific functionality. A skilled artisan would appreciate the fact thatother schemes of processing tasks distribution among two or moremicroprocessors are within the scope of this disclosure.

EIR terminal 100 can further comprise a communication interface 340communicatively coupled to the system bus 370. In one embodiment, thecommunication interface can be provided by a wireless communicationinterface. The wireless communication interface can be configured tosupport, for example, but not limited to, the following protocols: atleast one protocol of the IEEE 802.11/802.15/802.16 protocol family, atleast one protocol of the HSPA/GSM/GPRS/EDGE protocol family, TDMAprotocol, UMTS protocol, LTE protocol, and/or at least one protocol ofthe CDMA/1xEV-DO protocol family. In another embodiment, thecommunication interface 340 can be provided by a wired interface. In ayet another embodiment, the communication interface 340 can be providedby an optical interface. A skilled artisan would appreciate the factthat other types of communication interfaces are within the scope ofthis disclosure.

EIR terminal 100 can further comprise a battery 356. In one embodiment,the battery 356 can be provided by a replaceable rechargeable batterypack. EIR terminal 100 can further comprise a GPS receiver 380. EIRterminal 100 can further comprise at least one connector 390 configuredto receive a subscriber identity module (SIM) card.

EIR terminal 100 can further comprise one or more EIR devices 330. EIRdevice can be provided, for example, by a bar code reading device, amagnetic card reading device, a smart card reading device, or an RFIDreading device. A skilled artisan would appreciate the fact that othertypes of EIR devices are within the scope of this disclosure. In oneembodiment, EIR device 330 can be configured to output raw message datacontaining an encoded message. Alternatively, EIR device 330 can beconfigured to output decoded message data corresponding to an encodedmessage. For example, a bar code reading device can be configured tooutput an image containing a bar code and/or to output a byte sequencecontaining a decoded message corresponding to a scanned bar code. Inanother example, an RFID reading device can be configured to read andoutput a byte sequence from a memory of an RFID tag.

As used herein, “message” is intended to denote a bit sequence or acharacter string comprising alphanumeric and/or non-alphanumericcharacters. An encoded message can be used to convey information, suchas identification of the source and the model of an item, for example,in an EPC code.

As noted herein supra, EIR device 330 can comprise an imaging device 333comprising a two-dimensional image sensor and at least one imaging lenswhich can be employed to focus an image of the target object onto theimage sensor.

In one embodiment, EIR terminal 100 can further comprise a graphicaluser interface including a display adapter 175 and a keyboard 179. Inone embodiment, the EIR terminal 100 can further comprise an audiooutput device, e.g., a speaker 181.

It is not necessary that a device's primary function involve readingencoded messages in order to be considered an EIR terminal; for example,a cellular telephone, a smart phone, a PDA, or other portable computingdevice that is capable of acquiring two-dimensional images can bereferred to as an EIR terminal for purposes of this disclosure.

In a further aspect, EIR terminal 100 can be incorporated in a datacollection system. One embodiment of the data collection system,schematically shown in FIG. 7, can include a plurality of EIR terminals100 a-100 z in communication with a plurality of interconnected networks110 a-110 z.

An EIR terminal 100 a-100 z can establish a communication session withan external computer 171 (provided, for example, by a database server171 a or a portable RFID reading terminal 171 b). In one embodiment,network frames can be exchanged by the EIR terminal 100 and the externalcomputer 171 via one or more routers 140, access points 135, and otherinfrastructure elements. In another embodiment, the external computer171 can be reachable by the EIR terminal 100 via a local area network(LAN). In a yet another embodiment, the external computer 171 can bereachable by the EIR terminal 100 via a wide area network (WAN). In ayet another embodiment, the external computer 171 can be reachable bythe EIR terminal 100 directly (e.g., via a wired or wireless interface).A skilled artisan would appreciate the fact that other methods ofproviding interconnectivity between the EIR terminal 100 and theexternal computer 171 relying upon LANs, WANs, virtual private networks(VPNs), and/or other types of network are within the scope of thisdisclosure.

A “computer” herein shall refer to a programmable device for dataprocessing and control, including a central processing unit (CPU), amemory, and at least one communication interface. For example, in oneembodiment, a computer can be provided by a server running a singleinstance of a multi-tasking operating system. In another embodiment, acomputer can be provided by a virtual server, i.e., an isolated instanceof a guest operating system running within a host operating system. A“network” herein shall refer to a set of hardware and softwarecomponents implementing a plurality of communication channels betweentwo or more computers. A network can be provided, e.g., by a local areanetwork (LAN), or a wide area network (WAN). While different networkscan be designated herein, it is recognized that a single network as seenfrom the application layer interface to the network layer of the OSImodel can comprise a plurality of lower layer networks, i.e., what canbe regarded as a single Internet Protocol (IP) network, can include aplurality of different physical networks.

The communications between the EIR terminal 100 and the externalcomputer 171 can comprise a series of requests and responses transmittedover one or more TCP connections. A skilled artisan would appreciate thefact that using various transport and application level protocols iswithin the scope of this disclosure.

As noted herein supra, at least one of the messages transmitted by EIRterminal 100 to external computer 171 can include an image of a physicalobject (e.g., a physical structure sustaining one or more retail items),the object identifier, and the image scale factor calculated by the EIRterminal. In one embodiment, at least one of the messages transmitted bythe EIR terminal 100 to external computer 171 can further comprisephysical dimensions of the object which can be calculated by EIRterminal 100 as described herein supra and/or inputted by the EIRterminal 100, e.g., by decoding a bar code or querying an RFID tagattached to the imaged object. In another embodiment, at least one ofthe messages transmitted by the EIR terminal 100 to external computer171 can further comprise the object description, such as the position ofthe object on the facility floor plan and/or characteristics of theobject comprising, for example, the number, sizes, and locations ofshelves.

As noted herein supra, in one embodiment the external computer 171 canbe provided by a database server 171 a configured to store images anddescriptions of physical objects (e.g., physical structured employed tosustain inventory items in manufacturing, retail, or storagefacilities). In another embodiment, the external computer 171 can beprovided by a portable RFID reading terminal 171 b employed to read RFIDtags attached to items stored in a manufacturing, retail, and/or storagefacility. A skilled artisan would appreciate the fact that other typesand uses of external computers 171 are within the scope of thisdisclosure.

One embodiment of a method of acquiring an image of a physical object byan EIR terminal disclosed herein is now being described with referencesto FIG. 8.

At steps 5010-5020, EIR terminal 100 can perform a data input loopacquiring data from its motion sensing device, and responsive todetecting, at step 5020, a pre-defined pattern in the acquired data, theprocessing can continue at step 5030; otherwise, the method can loopback to step 5010. As noted herein supra, the pre-defined data patterncan be chosen to correspond to the mechanical velocities and properaccelerations of the EIR terminal along three mutually perpendicularaxes immediately becoming zeroes, which can be caused by the operator ofthe EIR terminal bringing the EIR terminal in a mechanical contact witha stationary physical object.

At step 5030, EIR terminal 100 can store in the memory its currentspatial position and orientation as a point of origin. As explainedherein supra, the operator of the EIR terminal can be instructed, beforeactivating the shutter release control, to bring the EIR terminal 100into a mechanical contact with a pre-defined area 199 of a physicalobject 190 to be imaged, which would result in the EIR terminal settingthe point of origin to coincide with a pre-defined point on the surfaceof the object 190.

At step 5035, EIR terminal 100 can input the identifier of the imagedphysical object. In one embodiment, the physical object can beidentified by scanning a bar code label attached to the object anddecoding the bar code to retrieve the object identifier. In anotherembodiment, the imaged object can be identified by reading an RFID labelattached to the object, as described in details herein supra. In afurther aspect, the message encoded in the bar code or in the RFID tagcan further include the object description, such as the position of theobject on the facility floor plan and/or the description of the objectcomprising, for example, object dimensions, the number, sizes, andlocations of shelves. In an alternative embodiment, the step ofinputting the imaged object identifier can precede the step 5010 ofacquiring motion sensing data, i.e., the operator of EIR terminal 100can scan a bar code label attached to the surface of the imaged object(or, in another embodiment, EIR terminal 100 can read an RFID tagattached to the surface of the imaged object) either before or after“tapping” a designated point on the surface of the imaged object.

At steps 5040-5050, EIR terminal 100 can perform a user interface inputloop, and responsive to establishing at step 5050 that Shutter releasebutton has been activated by the operator of EIR terminal 100, theprocessing can continue at step 5060; otherwise, the method can loopback to step 5040. A skilled artisan would appreciate the fact thatother ways of initiating an image acquiring operation are within thescope of this disclosure.

The user interface loop can comprise a step 5045 of acquiring motiondata from a motion sensing device. As noted herein supra, in oneembodiment, the motion sensing device can be provided by at least threeaccelerometers configured to measure proper acceleration values of theEIR terminal along at least three mutually-perpendicular axes. Inanother embodiment, the motion sensing device can be provided by a 9-DOF(degree of freedom) motion sensing unit containing a 3-axisaccelerometer, a 3-axis magnetometer, and 3-axis gyroscope sensors.

At step 5060, EIR terminal 100 can determine the current position of theEIR terminal relative to the previously identified point of origin,based on the data received from the motion sensing device at step 5045since the moment of detecting a mechanical contact with a stationaryobject.

At step 5070, EIR terminal 100 can acquire an image of the objectfocused onto by the imaging lens.

At step 5075, EIR terminal 100 can process the image. In one embodiment,image processing comprises removing keystone- and rotation-relateddistortions as described in details herein supra. In another embodiment,image processing further comprise detecting edges within the image asdescribed in details herein supra.

At step 5080, EIR terminal 100 can calculate the scale factor of theacquired image and the dimensions of the imaged object, as described indetails herein supra.

At step 5100, EIR terminal 100 can transmit to an external computer theobject identifier, the acquired image of the object, the objectdescription, and/or the calculated image scale factor, and the methodcan terminate.

One embodiment of the EIR terminal 100 is schematically shown in FIGS. 9a (front panel view), 9 b (side panel view), and 9 c (bottom panelview). The EIR terminal 100 can comprise a housing 52 within which othercomponents of the EIR terminal 100 can be disposed. An LCD screendisplay with a touch screen sensor 554 can be disposed on the frontpanel 556. Also disposed on the front panel 556 can be a decode LED 558,a scan LED 559, and a keyboard 64 including a scan key 568 andnavigation keys 72. An imaging window 74 can be disposed on the toppanel of housing 52. Disposed on the side panel (best viewed in FIG. 9b) can be an infra-red communication port 76, an access door to a securedigital (SD) memory interface 78, an audio jack 80, and a hand strap 82.Disposed on the bottom panel (best viewed in FIG. 9 c) can be amulti-pin mechanical connector 84 and a hand strap clip 86. An EIRdevice provided, for example, by an RFID reading device (not shown inFIGS. 9 a-9 c) can be disposed within the housing 52.

While the present invention has been particularly shown and describedwith reference to certain exemplary embodiments, it will be understoodby one skilled in the art that various changes in detail may be affectedtherein without departing from the spirit and scope of the invention asdefined by claims that can be supported by the written description anddrawings. Further, where exemplary embodiments are described withreference to a certain number of elements it will be understood that theexemplary embodiments can be practiced utilizing less than the certainnumber of elements.

An encoded information reading (EIR) terminal can comprise amicroprocessor, a memory, an EIR device including a two-dimensionalimaging device, a motion sensing device, and a communication interface.The EIR device can be configured to output raw image data containing anencoded message and/or to output decoded message data corresponding toan encoded message. The EIR terminal can be configured, responsive todetecting a pre-defined pattern in a first plurality of values receivedfrom the motion sensing device, to store in the memory a point of originequal to a first spatial position of the EIR terminal. The EIR terminalcan be further configured, responsive to detecting a user interfacecommand, to determine, based on a second plurality of values receivedfrom the motion sensing device, a second spatial position of the EIRterminal relative to the point of origin, and to acquire an image of theobject. The EIR terminal can be further configured to determine theimage scale factor based on at least the second spatial position.

A small sample of systems, methods, and apparata that are describedherein is as follows:

A1. An encoded information reading (EIR) terminal comprising:

a microprocessor;

a memory;

an EIR device including a two-dimensional imaging device, said EIRdevice configured to perform at least one of: outputting raw image datacontaining an encoded message, outputting decoded message datacorresponding to an encoded message;

a motion sensing device;

a communication interface;

wherein said EIR terminal is configured, responsive to detecting apre-defined pattern in a first plurality of values received from saidmotion sensing device, to store in said memory a point of origin equalto a first spatial position of said EIR terminal;

wherein said EIR terminal is further configured, responsive to detectinga user interface command, to determine, based on a second plurality ofvalues received from said motion sensing device, a second spatialposition of said EIR terminal relative to said point of origin, and toacquire an image of an object in a field of view of said imaging device;and

wherein said EIR terminal is further configured to determine a scalefactor of said image based on at least said second spatial position.

A2. The EIR terminal of (A1), wherein said image scale factor isprovided by a ratio of a size of said object along a chosen direction toa size of an image of said object in said chosen direction.

A3. The EIR terminal of (A1), wherein said motion sensing device isprovided by at least three accelerometers configured to measure properacceleration values of said EIR terminal along at least threemutually-perpendicular axes.

A4. The EIR terminal of (A1), wherein said motion sensing device isprovided by a 9-DOF (degree of freedom) motion sensing unit containing a3-axis accelerometer, a 3-axis magnetometer, and 3-axis gyroscopesensors.

A5. The EIR terminal of (A1), wherein said motion sensing device isprovided by at least three accelerometers configured to measure properacceleration values of said EIR terminal along at least threemutually-perpendicular axes; and

wherein said EIR terminal is further configured to determine a change ofa spatial position and orientation of said EIR terminal based on properacceleration values received from said at least three accelerometers.

A6. The EIR terminal of (A1), further configured, before determiningsaid scale factor, to process said image to remove one or moredistortions selected from the group consisting of: keystone-relateddistortions, and rotation-related distortions.

A7. The EIR terminal of (A1), further configured to process said imageto detect a plurality of edges of an object and to determine one or moredimensions of said object.

A8. The EIR terminal of (A1), further configured to transmit said imageto an external computer via said communication interface.

A9. The EIR terminal of (A1), further configured to transmit to anexternal computer said image and at least one of: an identifier of saidobject, a description of said object, one or more dimensions of saidobject.9. The EIR terminal of (A1), further configured to identify saidobject.

A10. The EIR terminal of (A1), further configured to identify saidobject by performing one of: scanning a bar code attached to saidobject, reading an RFID tag attached to said object.

A11. The EIR terminal of (A1), further comprising an RFID readingdevice;

wherein said EIR terminal is further configured to identify said objectby reading an RFID tag attached to said object.

A12. The EIR terminal of (A1), further comprising a second EIR deviceselected from the group consisting of: a bar code reading device, anRFID reading device, a magnetic card reading device;

wherein said second EIR device is configured to perform at least one of:outputting raw message data containing an encoded message, outputtingdecoded message data corresponding to an encoded message.

B1. A method of producing an image of an object by an EIR terminalcomprising a microprocessor, a memory, a two-dimensional imaging device,and a motion sensing device, said method comprising the steps of:

responsive to detecting a pre-defined pattern in a first plurality ofvalues received from said motion sensing device, said EIR terminalstoring in said memory a first spatial position of said EIR terminal asa point of origin;

responsive to detecting a user interface command, said EIR terminaldetermining, based on a second plurality of values received from saidmotion sensing device, a second position of said EIR terminal relativeto said point of origin;

said EIR terminal acquiring an image of said object; and said EIRterminal determining a scale factor of said image based on at least saidsecond spatial position.

B2. The method of (B1), wherein said image scale factor is provided by aratio of a size of said object along a chosen direction to a size of animage of said object in said chosen direction.

B3. The method of (B1), wherein said motion sensing device is providedby at least three accelerometers configured to measure properacceleration values of said EIR terminal along at least threemutually-perpendicular axes.

B4. The method of (B1), wherein said motion sensing device is providedby a 9-DOF (degree of freedom) motion sensing unit containing a 3-axisaccelerometer, a 3-axis magnetometer, and 3-axis gyroscope sensors.

B5. The method of (B1), further comprising the step of said EIR terminalprocessing said image to remove one or more distortions selected fromthe group consisting of: keystone-related distortions androtation-related distortions.

B6. The method of (B1), further comprising the steps of:

said EIR terminal processing said image to detect a plurality of edgesof an object; and

said EIR terminal determining one or more dimensions of said object.

B7. The method of (B1), further comprising the step of said EIR terminaltransmitting said image to an external computer.

B8. The method of (B1), further comprising the step of said EIR terminaltransmitting to an external computer said image and at least one of: anidentifier of said object, a description of said object, one or moredimensions of said object.

B9. The method of (B1), further comprising the step of said EIR terminalidentifying said object.

B10. The method of (B1), further comprising the step of said EIRterminal identifying said object;

wherein said step of identifying said object is performed by one of:scanning a bar code attached to said object; reading an RFID tagattached to said object.

The invention claimed is:
 1. An apparatus comprising: a motion sensingdevice; a communication interface; and a processor that: stores,responsive to detecting a pre-defined pattern in a first plurality ofvalues received from said motion sensing device, in memory a point oforigin that corresponds to a first spatial position of said apparatus,determines, responsive to detecting a user interface command and basedon a second plurality of values received from said motion sensingdevice, a second spatial position of said apparatus relative to saidpoint of origin, and to acquire an image of an object in a field of viewof said apparatus; and determines a scale factor of said image based onat least said second spatial position, wherein said image scale factoris provided by a ratio of a size of said object along a chosen directionto a size of an image of said object in said chosen direction.
 2. Theapparatus of claim 1, wherein said motion sensing device is provided byat least three accelerometers configured to measure proper accelerationvalues of said apparatus along at least three mutually-perpendicularaxes.
 3. The apparatus of claim 1, wherein said motion sensing device isprovided by a 9-DOF (degree of freedom) motion sensing unit containing a3-axis accelerometer, a 3-axis magnetometer, and 3-axis gyroscopesensors.
 4. The apparatus of claim 1, further configured, beforedetermining said scale factor, to process said image to remove one ormore distortions selected from the group consisting of: keystone-relateddistortions, and rotation-related distortions.
 5. The apparatus of claim1, further configured to process said image to detect a plurality ofedges of an object and to determine one or more dimensions of saidobject.
 6. The apparatus of claim 1, further configured to transmit saidimage to an external computer via said communication interface.
 7. Theapparatus of claim 1, further configured to transmit to an externalcomputer said image and at least one of: an identifier of said object, adescription of said object, one or more dimensions of said object. 8.The apparatus of claim 1, further configured to identify said object byperforming one of: scanning a bar code attached to said object, readingan RFID tag attached to said object.
 9. The apparatus of claim 1,further comprising an RFID reading device; wherein said apparatus isfurther configured to identify said object by reading an RFID tagattached to said object.
 10. The apparatus of claim 1, wherein theprocessor is associated with a encoded information reading deviceselected from the group consisting of: a bar code reading device, anRFID reading device, a magnetic card reading device; wherein saidencoded information reading device is configured to perform at least oneof: outputting raw message data containing an encoded message,outputting decoded message data corresponding to an encoded message. 11.A method of producing an image of an object by an apparatus comprising amotion sensing device, said method comprising: responsive to detecting apre-defined pattern in a first plurality of values received from saidmotion sensing device, said apparatus storing in memory a first spatialposition of said apparatus as a point of origin; responsive to detectinga user interface command, determining, based on a second plurality ofvalues received from said motion sensing device, a second position ofsaid apparatus relative to said point of origin; acquiring an image ofsaid object; and determining a scale factor of said image based on atleast said second spatial position, wherein said image scale factor isprovided by a ration of a size of said object along a chosen directionto a size of an image of said object in said chosen direction.
 12. Themethod of claim 11, wherein said motion sensing device is provided by atleast three accelerometers configured to measure proper accelerationvalues of said apparatus along at least three mutually-perpendicularaxes.
 13. The method of claim 11, wherein said motion sensing device isprovided by a 9-DOF (degree of freedom) motion sensing unit containing a3-axis accelerometer, a 3-axis magnetometer, and 3-axis gyroscopesensors.
 14. The method of claim 11, further comprising: processing saidimage to detect a plurality of edges of an object; and determining oneor more dimensions of said object.
 15. The method of claim 11, furthercomprising transmitting said image to an external computer.
 16. Themethod of claim 11, further comprising transmitting to an externalcomputer said image and at least one of: an identifier of said object, adescription of said object, one or more dimensions of said object. 17.The method of claim 11, further comprising identifying said object. 18.The method of claim 11, further comprising identifying said object;wherein said identifying said object is performed by one of: scanning abar code attached to said object; reading an RFID tag attached to saidobject.
 19. An apparatus comprising: a motion sensing device provided bya 9-DOF (degree of freedom) motion sensing unit containing a 3-axisaccelerometer, a 3-axis magnetometer, and 3-axis gyroscope sensors; acommunication interface; and a processor that: stores, responsive todetecting a pre-defined pattern in a first plurality of values receivedfrom said motion sensing device, in memory a point of origin thatcorresponds to a first spatial position of said apparatus, determines,responsive to detecting a user interface command and based on a secondplurality of values received from said motion sensing device, a secondspatial position of said apparatus relative to said point of origin, andto acquire an image of an object in a field of view of said apparatus;and determines a scale factor of said image based on at least saidsecond spatial position.